ResearchBenchmarksMulti-agent navigation on MuJoCo-Drones-Gym 8 AgentsFollow99.8Safety RateSafeMARL89.08891.86994.6597.431Sep 28, 2025Evaluation ResultsMethodMethodLinksSafety RateSafe Success RateSafeMARL2025.0999.899MAD-PINN2025.0999.598DEF-MARLTraining Agents=8Training Agents=82025.0995.482DEF-MARLTraining Agents=3Training Agents=32025.0989.863MPPI2025.0989.572